WebSVN - NaviCtrl - Diff - Rev 287 and 290


#ifndef _MAIN_H
#define _MAIN_H
 
//-----------------------
//#define DEBUG 0
//-----------------------
 
#define VERSION_MAJOR   0
#define VERSION_MINOR   23
#define VERSION_PATCH   10
// 0 = A
// 1 = B
// 2 = C
// 3 = D
// 4 = E
// 5 = F
// 6 = G
// 7 = H
// 8 = I
// 9 = J
// 10 = k
 
#define VERSION_SERIAL_MAJOR    11
#define VERSION_SERIAL_MINOR    0
 
#define FC_SPI_COMPATIBLE               19
#define MK3MAG_I2C_COMPATIBLE   3
 
// FC STATUS FLAGS 
#define FC_STATUS_MOTOR_RUN                             0x01
#define FC_STATUS_FLY                                   0x02
#define FC_STATUS_CALIBRATE                             0x04
#define FC_STATUS_START                                 0x08
#define FC_STATUS_EMERGENCY_LANDING             0x10
#define FC_STATUS_LOWBAT                                0x20
#define FC_STATUS_VARIO_TRIM_UP                 0x40
#define FC_STATUS_VARIO_TRIM_DOWN               0x80
 
// FC ERRORS FLAGS
#define FC_ERROR0_GYRO_NICK     0x01
#define FC_ERROR0_GYRO_ROLL     0x02
#define FC_ERROR0_GYRO_YAW              0x04
#define FC_ERROR0_ACC_NICK              0x08
#define FC_ERROR0_ACC_ROLL              0x10
#define FC_ERROR0_ACC_TOP               0x20
#define FC_ERROR0_PRESSURE              0x40
#define FC_ERROR0_CAREFREE              0x80
 
#define FC_ERROR1_I2C                   0x01
#define FC_ERROR1_BL_MISSING    0x02
#define FC_ERROR1_SPI_RX                0x04
#define FC_ERROR1_PPM                   0x08
#define FC_ERROR1_MIXER                 0x10
#define FC_ERROR1_RES1                  0x20
#define FC_ERROR1_RES2                  0x40
#define FC_ERROR1_RES3                  0x80
 
// NC Errors
#define NCERR_FLAG_FC_COMPATIBLE                        0x00000001
#define NCERR_FLAG_MK3MAG_COMPATIBLE            0x00000002
#define NCERR_FLAG_FC_COMMUNICATION                     0x00000004
#define NCERR_FLAG_MK3MAG_COMMUNICATION         0x00000008
#define NCERR_FLAG_MKGPS_COMMUNICATION          0x00000010
#define NCERR_FLAG_BAD_COMPASS_HEADING          0x00000020
#define NCERR_FLAG_RC_SIGNAL_LOST                       0x00000040
#define NCERR_FLAG_EEPROM_NOT_FOUND                     0x00000080
 
 
#define LIMIT_MIN(value, min) {if(value <= min) value = min;}
#define LIMIT_MAX(value, max) {if(value >= max) value = max;}
#define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;}
 
extern u16 BeepTime;
extern u8  NCFlags;
extern u8 ClearFCStatusFlags;
void Interrupt_Init(void);
extern s16 GeoMagDec;
 
 
typedef struct
{
        u8 ActiveSetting;
        u8 User1;
        u8 User2;
        u8 User3;
        u8 User4;
        u8 User5;
        u8 User6;
        u8 User7;
        u8 User8;
        u8 NaviGpsModeControl;
        u8 NaviGpsGain;
        u8 NaviGpsP;
        u8 NaviGpsI;
        u8 NaviGpsD;
        u8 NaviGpsPLimit;
        u8 NaviGpsILimit;
        u8 NaviGpsDLimit;
        u8 NaviGpsACC;
        u8 NaviGpsMinSat;
        u8 NaviStickThreshold;
        u8 NaviOperatingRadius;
        u8 NaviWindCorrection;
        u8 NaviSpeedCompensation;
        u8 LowVoltageWarning;
        u8 NaviAngleLimitation;
        u8 NaviPH_LoginTime;
} __attribute__((packed)) Param_t;
 
typedef struct
{
        s8 StickNick;
        s8 StickRoll;
        s8 StickYaw;
        s8 StickGas;
        u8 Poti[8];
        u8 Poti5;
        u8 Poti6;
        u8 Poti7;
        u8 Poti8;
        u8 RC_Quality;
        u8 RC_RSSI;
        u8 BAT_Voltage;
        u16 BAT_Current;
        u16 BAT_UsedCapacity;
        u8 StatusFlags;
        u8 Error[5];
} __attribute__((packed)) FC_t;
 
 
extern Param_t Parameter;
extern volatile FC_t FC;
extern s8 ErrorMSG[25];
extern u8 ErrorCode;
extern u8 StopNavigation;
#endif // _MAIN_H
 

Rev 287	Rev 290
1	#ifndef _MAIN_H	1	#ifndef _MAIN_H
2	#define _MAIN_H	2	#define _MAIN_H
3		3
4	//-----------------------	4	//-----------------------
5	//#define DEBUG 0	5	//#define DEBUG 0
6	//-----------------------	6	//-----------------------
7		7
8	#define VERSION_MAJOR 0	8	#define VERSION_MAJOR 0
9	#define VERSION_MINOR 23	9	#define VERSION_MINOR 23
10	#define VERSION_PATCH 8	10	#define VERSION_PATCH 10
11	// 0 = A	11	// 0 = A
12	// 1 = B	12	// 1 = B
13	// 2 = C	13	// 2 = C
14	// 3 = D	14	// 3 = D
15	// 4 = E	15	// 4 = E
16	// 5 = F	16	// 5 = F
17	// 6 = G	17	// 6 = G
18	// 7 = H	18	// 7 = H
19	// 8 = I	19	// 8 = I
20	// 9 = J	20	// 9 = J
-		21	// 10 = k
21		22
22	#define VERSION_SERIAL_MAJOR 11	23	#define VERSION_SERIAL_MAJOR 11
23	#define VERSION_SERIAL_MINOR 0	24	#define VERSION_SERIAL_MINOR 0
24		25
25	#define FC_SPI_COMPATIBLE 19	26	#define FC_SPI_COMPATIBLE 19
26	#define MK3MAG_I2C_COMPATIBLE 3	27	#define MK3MAG_I2C_COMPATIBLE 3
27		28
28	// FC STATUS FLAGS	29	// FC STATUS FLAGS
29	#define FC_STATUS_MOTOR_RUN 0x01	30	#define FC_STATUS_MOTOR_RUN 0x01
30	#define FC_STATUS_FLY 0x02	31	#define FC_STATUS_FLY 0x02
31	#define FC_STATUS_CALIBRATE 0x04	32	#define FC_STATUS_CALIBRATE 0x04
32	#define FC_STATUS_START 0x08	33	#define FC_STATUS_START 0x08
33	#define FC_STATUS_EMERGENCY_LANDING 0x10	34	#define FC_STATUS_EMERGENCY_LANDING 0x10
34	#define FC_STATUS_LOWBAT 0x20	35	#define FC_STATUS_LOWBAT 0x20
35	#define FC_STATUS_VARIO_TRIM_UP 0x40	36	#define FC_STATUS_VARIO_TRIM_UP 0x40
36	#define FC_STATUS_VARIO_TRIM_DOWN 0x80	37	#define FC_STATUS_VARIO_TRIM_DOWN 0x80
37		38
38	// FC ERRORS FLAGS	39	// FC ERRORS FLAGS
39	#define FC_ERROR0_GYRO_NICK 0x01	40	#define FC_ERROR0_GYRO_NICK 0x01
40	#define FC_ERROR0_GYRO_ROLL 0x02	41	#define FC_ERROR0_GYRO_ROLL 0x02
41	#define FC_ERROR0_GYRO_YAW 0x04	42	#define FC_ERROR0_GYRO_YAW 0x04
42	#define FC_ERROR0_ACC_NICK 0x08	43	#define FC_ERROR0_ACC_NICK 0x08
43	#define FC_ERROR0_ACC_ROLL 0x10	44	#define FC_ERROR0_ACC_ROLL 0x10
44	#define FC_ERROR0_ACC_TOP 0x20	45	#define FC_ERROR0_ACC_TOP 0x20
45	#define FC_ERROR0_PRESSURE 0x40	46	#define FC_ERROR0_PRESSURE 0x40
46	#define FC_ERROR0_CAREFREE 0x80	47	#define FC_ERROR0_CAREFREE 0x80
47		48
48	#define FC_ERROR1_I2C 0x01	49	#define FC_ERROR1_I2C 0x01
49	#define FC_ERROR1_BL_MISSING 0x02	50	#define FC_ERROR1_BL_MISSING 0x02
50	#define FC_ERROR1_SPI_RX 0x04	51	#define FC_ERROR1_SPI_RX 0x04
51	#define FC_ERROR1_PPM 0x08	52	#define FC_ERROR1_PPM 0x08
52	#define FC_ERROR1_MIXER 0x10	53	#define FC_ERROR1_MIXER 0x10
53	#define FC_ERROR1_RES1 0x20	54	#define FC_ERROR1_RES1 0x20
54	#define FC_ERROR1_RES2 0x40	55	#define FC_ERROR1_RES2 0x40
55	#define FC_ERROR1_RES3 0x80	56	#define FC_ERROR1_RES3 0x80
56		57
57	// NC Errors	58	// NC Errors
58	#define NCERR_FLAG_FC_COMPATIBLE 0x00000001	59	#define NCERR_FLAG_FC_COMPATIBLE 0x00000001
59	#define NCERR_FLAG_MK3MAG_COMPATIBLE 0x00000002	60	#define NCERR_FLAG_MK3MAG_COMPATIBLE 0x00000002
60	#define NCERR_FLAG_FC_COMMUNICATION 0x00000004	61	#define NCERR_FLAG_FC_COMMUNICATION 0x00000004
61	#define NCERR_FLAG_MK3MAG_COMMUNICATION 0x00000008	62	#define NCERR_FLAG_MK3MAG_COMMUNICATION 0x00000008
62	#define NCERR_FLAG_MKGPS_COMMUNICATION 0x00000010	63	#define NCERR_FLAG_MKGPS_COMMUNICATION 0x00000010
63	#define NCERR_FLAG_BAD_COMPASS_HEADING 0x00000020	64	#define NCERR_FLAG_BAD_COMPASS_HEADING 0x00000020
64	#define NCERR_FLAG_RC_SIGNAL_LOST 0x00000040	65	#define NCERR_FLAG_RC_SIGNAL_LOST 0x00000040
65	#define NCERR_FLAG_EEPROM_NOT_FOUND 0x00000080	66	#define NCERR_FLAG_EEPROM_NOT_FOUND 0x00000080
66		67
67		68
68	#define LIMIT_MIN(value, min) {if(value <= min) value = min;}	69	#define LIMIT_MIN(value, min) {if(value <= min) value = min;}
69	#define LIMIT_MAX(value, max) {if(value >= max) value = max;}	70	#define LIMIT_MAX(value, max) {if(value >= max) value = max;}
70	#define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;}	71	#define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;}
71		72
72	extern u16 BeepTime;	73	extern u16 BeepTime;
73	extern u8 NCFlags;	74	extern u8 NCFlags;
74	extern u8 ClearFCStatusFlags;	75	extern u8 ClearFCStatusFlags;
75	void Interrupt_Init(void);	76	void Interrupt_Init(void);
76	extern s16 GeoMagDec;	77	extern s16 GeoMagDec;
77		78
78		79
79	typedef struct	80	typedef struct
80	{	81	{
81	u8 ActiveSetting;	82	u8 ActiveSetting;
82	u8 User1;	83	u8 User1;
83	u8 User2;	84	u8 User2;
84	u8 User3;	85	u8 User3;
85	u8 User4;	86	u8 User4;
86	u8 User5;	87	u8 User5;
87	u8 User6;	88	u8 User6;
88	u8 User7;	89	u8 User7;
89	u8 User8;	90	u8 User8;
90	u8 NaviGpsModeControl;	91	u8 NaviGpsModeControl;
91	u8 NaviGpsGain;	92	u8 NaviGpsGain;
92	u8 NaviGpsP;	93	u8 NaviGpsP;
93	u8 NaviGpsI;	94	u8 NaviGpsI;
94	u8 NaviGpsD;	95	u8 NaviGpsD;
95	u8 NaviGpsPLimit;	96	u8 NaviGpsPLimit;
96	u8 NaviGpsILimit;	97	u8 NaviGpsILimit;
97	u8 NaviGpsDLimit;	98	u8 NaviGpsDLimit;
98	u8 NaviGpsACC;	99	u8 NaviGpsACC;
99	u8 NaviGpsMinSat;	100	u8 NaviGpsMinSat;
100	u8 NaviStickThreshold;	101	u8 NaviStickThreshold;
101	u8 NaviOperatingRadius;	102	u8 NaviOperatingRadius;
102	u8 NaviWindCorrection;	103	u8 NaviWindCorrection;
103	u8 NaviSpeedCompensation;	104	u8 NaviSpeedCompensation;
104	u8 LowVoltageWarning;	105	u8 LowVoltageWarning;
105	u8 NaviAngleLimitation;	106	u8 NaviAngleLimitation;
106	u8 NaviPH_LoginTime;	107	u8 NaviPH_LoginTime;
107	} __attribute__((packed)) Param_t;	108	} __attribute__((packed)) Param_t;
108		109
109	typedef struct	110	typedef struct
110	{	111	{
111	s8 StickNick;	112	s8 StickNick;
112	s8 StickRoll;	113	s8 StickRoll;
113	s8 StickYaw;	114	s8 StickYaw;
114	s8 StickGas;	115	s8 StickGas;
115	u8 Poti[8];	116	u8 Poti[8];
116	u8 Poti5;	117	u8 Poti5;
117	u8 Poti6;	118	u8 Poti6;
118	u8 Poti7;	119	u8 Poti7;
119	u8 Poti8;	120	u8 Poti8;
120	u8 RC_Quality;	121	u8 RC_Quality;
121	u8 RC_RSSI;	122	u8 RC_RSSI;
122	u8 BAT_Voltage;	123	u8 BAT_Voltage;
123	u16 BAT_Current;	124	u16 BAT_Current;
124	u16 BAT_UsedCapacity;	125	u16 BAT_UsedCapacity;
125	u8 StatusFlags;	126	u8 StatusFlags;
126	u8 Error[5];	127	u8 Error[5];
127	} __attribute__((packed)) FC_t;	128	} __attribute__((packed)) FC_t;
128		129
129		130
130	extern Param_t Parameter;	131	extern Param_t Parameter;
131	extern volatile FC_t FC;	132	extern volatile FC_t FC;
132	extern s8 ErrorMSG[25];	133	extern s8 ErrorMSG[25];
133	extern u8 ErrorCode;	134	extern u8 ErrorCode;
134	extern u8 StopNavigation;	135	extern u8 StopNavigation;
135	#endif // _MAIN_H	136	#endif // _MAIN_H
136		137

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(root)/tags/V0.30a/main.h @ 628 - Rev 287 → 290